JP2003316439A - Control unit for mobile trolley - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a control apparatus for a moving bogie capable of improving safety without loss of operability even if the mobile bogie is in moving. <P>SOLUTION: A control apparatus for a bogie comprises: a mobile bogie 101; peripheral equipment 102 of the bogie 101; a network 103 coupled with the bogie 101 and peripheral equipment 102; a teaching terminal 104 for operating the bogie 101 and peripheral equipment 102 via the network 103; a storage 105 for storing moving paths of the bogie 101 and operation contents of the peripheral equipment 102; and an area detecting part 106 capable of detecting areas in which the teaching terminal 104, the bogie 101 and the peripheral equipment 102 exist, and storing moving paths of the bogie 101 which was operated in advance by an operator into the storage 105 to repeat the moving paths. The bogie 101 can be operated only if the detecting part 106 detects that the teaching terminal 104 and bogie 101 exist in the same or adjacent area. <P>COPYRIGHT: (C)2004,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for assisting input of a moving route, etc., for the purpose of being easily introduced to anyone in a trackless autonomous moving vehicle for carrying out work such as transportation in a building. is there.

[0002]

2. Description of the Related Art As a mobile trolley operating in a facility, a mark such as a guide is laid on a floor surface as described in JP-A-11-327648, and a mark detection sensor mounted on the mobile trolley is used for this mark. Although there is a type that travels while detecting, it is necessary to lay a mark such as a guide on the floor, and it is not possible to flexibly correct the movement route due to layout changes in the facility etc. was there. On the other hand, the mobile vehicle targeted by the present invention is a trackless autonomous mobile vehicle, and since it is not necessary to lay a mark such as a guide on the floor surface, the travel route accompanying the layout change in the facility, etc. The advantage is that the correction of can be done flexibly. However, on the other hand, it is necessary to input the movement route of the trackless autonomous mobile vehicle in advance. In this regard, conventionally, so-called offline teaching has been performed, in which a drawing input software such as CAD is used to create a path composed of straight lines and curves, and the moving path is taught by reading the path on a moving carriage. However, this method has a problem in that it is inconvenient because an inexperienced user needs to handle software such as CAD. In addition, an accurate drawing of the facility is required, and the location of a desk or potted plant that is temporarily placed must be entered, which imposes a heavy burden on the route creation, and the route can be located away from the actual driving location. There is a problem that it is difficult to grasp the image of the site because the input is made. In order to solve such a problem, without using CAD or the like, the moving carriage is manually operated in advance to travel along the target route, the route at this time is stored, and then this stored content is read out. A so-called direct teaching device has been proposed that reproduces the same operation. Among them, Japanese Patent Laid-Open No. 8-326025 discloses a method of directly teaching a moving route of a cleaning carriage. Hereinafter, a brief description will be given with reference to the drawings.

FIG. 17 is a block diagram of a control system of a conventional mobile truck. In the figure, 1401 is a control device for controlling all operations of the mobile carriage. The control device 1401 includes a control calculation device 1402 as a control unit, a memory 1403 as a storage unit for storing teaching data and the like, and a timer 1404 for generating a sampling time. Traveling motor 140 that rotationally drives the drive wheels of the moving carriage
Reference numeral 5 is connected to the traveling motor driver 1406, and the rotational speed and the rotational direction are controlled by a control signal output from the control arithmetic unit 1402 via the traveling motor driver 1406. An encoder 1407 that detects the rotation of the traveling motor and outputs a detection signal to the control arithmetic unit 1402 is attached to the rotation shaft of the traveling motor. A gyro sensor 1408 for detecting the angular velocity generated in the moving carriage is installed on the moving carriage, and the angular speed information is input to the control arithmetic unit 1402. Control arithmetic unit 140
2 calculates the attitude change by integrating the output of the gyro sensor 1408 and the like, and the encoder 140
The signal from 7 is also used to calculate the position and orientation data of the moving carriage. A plurality of ultrasonic distance sensors 1409 for detecting obstacles are installed on the moving carriage, and detect obstacles such as the positions of walls and pillars existing on the outer periphery and the steps of stairs. The ultrasonic distance sensor 1409 is connected to the control arithmetic unit 1402 so that information on the distance to the obstacle can be obtained. The manual operation lever 1410 is a manual operation means that is operated by an operator when the movable carriage is directly moved, and is fixed to the movable carriage. The manual operation lever 1
Reference numeral 410 denotes a swing detection sensor 141 that detects the swing.
1 is provided. The swing detection sensor 1411 is connected to a control arithmetic unit 1402. In the control arithmetic unit 1402, a traveling motor driver is arranged to switch the traveling direction, the turning direction and the speed according to the swing direction and swing angle of the manual operation lever 1410. The drive of the traveling motor 1405 is controlled via 1406. Also, on the moving carriage,
An operation panel unit 1412 for inputting commands such as teaching start and reproduction start, and a display panel unit 1413 for displaying the operating state and system status of the moving carriage are provided. The operation panel unit 1412 and the display panel unit 1413 control It is connected to the arithmetic unit 1402.

FIG. 18 shows a configuration example of the operation panel section 1412. On the operation panel section, a “Teach ON / OFF” button 1501, a “Pause” button 1502, a “Retry” button 1503 used for teaching (teaching), and a “Start” button 15 used for playback (playback).
04, "Pause" button 1505, "Stop" button 1
506 is arranged. Here, a series of teaching reproduction operations performed when the mobile vehicle is introduced will be described. First, when teaching a moving route, the operator turns on the “Teach ON / OFF” button 1501 to turn on the control arithmetic unit 1.
501 enters the teaching data creation mode. After that, the operator actually moves the moving carriage by operating the manual operation lever 1510 on the moving carriage. During this period, the control arithmetic unit 1502 stores the position and orientation data of the moving carriage calculated from the outputs of the gyro sensor 1508 and the encoder 1507 in the memory 1503 as time series data for each sampling time generated by the timer 1504. When the operator turns off the "Teach ON / OFF" button 1501, the storage ends. "Pause" on the way
By pressing the button 1502, the storage can be temporarily stopped, and by pressing the “redo” button 1503, the stored contents can be erased. After the direct teaching of the movement route in this way, if the operator presses the “start” button 1504, the stored position and orientation data is sequentially retrieved from the memory 1403 at each sampling time generated by the timer 1404, and the position and orientation are stored. By controlling the traveling motor driver 1406 by the control arithmetic unit 1402 so as to match with, the operation at the time of teaching can be reproduced. A "pause" button 1505 is pressed to pause during reproduction, and a "stop" button 1506 is pressed to stop.

[0005]

However, in the above-mentioned conventional control device for a moving carriage, since teaching is performed using the operation panel and the display panel mounted in the limited space on the moving carriage, the display capability is reduced. The lack of operability was poor. In addition, since the operator has to follow the operation panel and the display panel during movement of the movable carriage, especially during turning, the operation is difficult. Further, even when a large number of mobile carriages are installed, it is necessary to install the operation panel and the display panel on all the mobile carriages, which causes a problem of high cost. Further, even when it is desired to make a plurality of mobile vehicles perform the same operation, it is necessary to perform the same teaching operation for all the mobile vehicles. In addition, since the position and orientation data is stored for each fixed sample time, there is a problem that the data amount becomes huge when teaching for a long time, and it cannot be stored in the limited memory capacity mounted on the mobile carriage. It was Further, it is difficult to perform an editing operation such as adding / deleting / changing the waypoint of the data once stored. Further, since the stored position and orientation data is only so-called dead reckoning information obtained by the gyro sensor and the encoder, it is difficult to correct this when an error occurs due to a slip of the road surface or the like. In recent years, infrastructure networks in facilities such as buildings have been developed and the number of devices connected to the networks has increased, but conventionally, it was not possible to teach the cooperative operation with these various peripheral devices. Therefore, an object of the present invention is that the display ability is excellent, the operability is good even during movement, the cost can be suppressed even if a plurality of units are introduced, and the taught track can be easily used for other moving carriages. It is possible to control the movement carriage that can control the amount of movement and can store and save many movement routes, facilitate editing operations such as addition and deletion of waypoints, correct dead reckoning errors, and teach operation in cooperation with peripheral devices. To provide a device.

[0006]

[Means for Solving the Problems] To achieve the above purpose,
The invention of a control device for a mobile vehicle according to claim 1 is a mobile vehicle 101, a peripheral device 102 existing in an environment outside the mobile vehicle, a network 103 to which the mobile vehicle and the peripheral devices are connected, and the network. And a teaching terminal 104 connected to the network for operating the mobile carriage and the peripheral equipment via the network, and a data storage unit connected to the network for storing the movement path of the mobile carriage and the operation content of the peripheral equipment. A control device for a mobile vehicle, comprising: 105, the teaching terminal, and an area detection unit 106 capable of detecting an area where the mobile vehicle and the peripheral device are present. An operator actually operates the mobile vehicle in advance. Storing the movement route at the time of operation in the data storage unit, and then reproducing the movement route contents stored in the data storage unit. The control device for the movable carrier to reproduce the same operation, to allow operation of the mobile carriage only when the area detector detects said movable carriage and the teaching terminal is present in the same or adjacent areas, and /
Alternatively, according to the control device having the above-described configuration, the teaching terminal and the peripheral device can be operated only when it is detected that the teaching device and the peripheral device exist in the same or adjacent areas. Since the operation is not restricted by the movement of the moving carriage, the operability is not deteriorated during the movement of the moving carriage, particularly during turning. Further, by storing the movement route in a large-capacity storage device of the data storage unit via the network instead of the limited memory area on the moving carriage, it is possible to store a larger amount of data and to store a plurality of data. Easy to save and recall. Furthermore, when a plurality of mobile vehicles are introduced, the movement route and the operation content stored in the data storage unit can be used for all the mobile vehicles. That is, all the moving carriages can be moved in the same manner by one teaching operation, which is efficient. Even when a plurality of moving carriages are introduced, only one teaching terminal is required, and the operation panel / display panel on the moving carriage is not required, so that the cost can be suppressed. In addition, since the mobile carriage and peripheral devices do not operate in a place away from the operator at the time of teaching, safety is improved.

According to a second aspect of the present invention, in the control device for a moving vehicle according to the first aspect, the peripheral device is any one or more of an automatic door opening / closing device, an elevator calling device, and an automatic baggage unloading device. And each of the peripheral devices is controllable via the network. According to the control device having the above configuration, by operating the elevator calling device, the automatic door opening / closing device, or the automatic baggage loading / unloading device in cooperation with the moving carriage, movement between floors in a facility such as a building or a barrier such as a door Passage and unloading of luggage can be automatically reproduced as instructed.

The invention according to claim 3 is the invention according to claim 1 or 2.
In the control device for a moving carriage described above, the moving route is
It is characterized by comprising a waypoint through which the mobile carriage should pass and an operation between waypoints connecting the waypoints. According to the control device having the above configuration, the position information at the time when the operator outputs the teaching command is acquired and stored as the waypoint, and the operation content between the waypoints is stored as the waypoint information,
Compared with the method of continuously acquiring and storing the position information for each sample time, the required amount of data can be significantly reduced. In addition, it is possible to easily perform an editing operation such as adding, deleting, or changing the stored waypoint. According to a fourth aspect of the present invention, in the control device for a mobile vehicle according to any one of the first to third aspects, the mobile vehicle has a direction to an environment of an outer periphery-a direction in which distance information can be continuously acquired- A distance measuring means is mounted, and the data storage unit stores the direction-distance information together with the information on the via point and the operation between via points at the teaching point. According to the control device having the above configuration, at the time of motion reproduction, the moving carriage compares the external environment information obtained by the direction-distance measuring means on the target waypoint and the external environment information at the time of teaching, It is possible to recognize the deviation of the current position from the time of teaching. As a result, even if a dead reckoning error occurs due to slippage on the road surface, this can be corrected. According to a fifth aspect of the present invention, in the control device for a mobile vehicle according to any one of the first to fourth aspects, the teaching terminal has a button that enables operation of the mobile vehicle and the peripheral device, A user who can display the current position information of the moving carriage, the direction-distance information, and the stored information about the waypoints and the operation between waypoints, and can arbitrarily edit the information on the waypoints and operation between waypoints. It is characterized by having an interface screen. According to the control device having the above configuration, a graphical user interface is used and visibility and operability are excellent as compared with a panel mounted in a limited space on a moving carriage. As a result, even an inexperienced user can easily introduce it.

According to a sixth aspect of the present invention, in the control apparatus for a mobile vehicle according to any one of the first to fifth aspects, the teaching terminal 104 is connected via the route stored in a storage medium of the data storage unit 105. Points 801 to 804, the inter-route point operations 805 to 807, and the direction at the route points-the direction at the operation start point 801 of the route points before performing the reproduction operation based on the distance information (θ-rt). The distance information (θ-rt) and the current position of the moving carriage 101 are 80
By comparing the direction-distance information (θ-rp) acquired in No. 8, the operation start point 801 and the current position 8
A displacement amount 809 with respect to 08 is calculated, and the movable carriage is run in a direction in which the displacement amount 809 decreases. According to the control device having the above configuration, it is possible to easily move the moving carriage to the teaching point stored in the past without directly measuring / inputting the absolute coordinates in the facility or marking the floor with the teacher's mark at the start of the reproducing operation. Can be matched to. The invention according to claim 7 is the control device for a mobile vehicle according to any one of claims 1 to 6, wherein the inter-pointpoint operations 805 to 807 stored in the data storage unit 105 include a corridor and the like. Designated distances YR and YL with the wall when traveling along the wall
And the teaching terminal 104,
With the virtual target point 1001 as the origin, the specified distance YR,
A direction-distance information template (θ-rt) in which virtual wall information is arranged at the position of YL is created, and this is collated with the direction-distance information (θ-rp) acquired by the moving carriage 101 at the current position 1005. By doing so, the displacement amount 1006 between the virtual target point 1001 and the current position 1005
Is calculated, and the movable carriage is run in a direction in which the displacement amount 1006 decreases. According to the control device having the above configuration, it is possible to always travel while maintaining a distance from the wall between the waypoints traveling along the wall without providing a teaching point on the way.

According to an eighth aspect of the present invention, in the control apparatus for a moving vehicle according to any one of the first to seventh aspects, the inter-point point operation 805 stored in the data storage unit 105.
At ~ 807, walls 11 such as corridors including corners 1101
The specified distance from the wall 1102 when traveling along 02, and the integrated moving distance of the moving carriage 101 in the traveling direction from the starting position 1103 to the target position 1104 are included, and the moving carriage 101 is When the distance between the wall 1102 and the wall 1102 measured by the direction-distance detecting means exceeds a certain threshold value while traveling along the wall 1102, the current position is determined to be a corner and the vehicle stops.
It is characterized in that it turns to a certain angle on the side of 102 and moves forward until the distance to the wall 1102 falls within a certain threshold value, and then continues traveling along the wall. According to the control apparatus having the above configuration, even when the corner 1101 is reached and the wall 1102 is interrupted, the teacher automatically searches for the wall 1102 and continues traveling along the wall. It is possible to save the trouble of giving a stop or turning operation to 101, and to simplify the teaching operation. Moreover, since it is not necessary to set the teaching point at the corner 1101, it is possible to suppress an increase in the number of teaching data. According to a ninth aspect of the present invention, in the control device for a moving carriage according to any one of the first to eighth aspects, the data storage unit 10 is provided.
In the inter-route point operations 805 to 807 stored in 5,
The specified distance from the wall 1202 when traveling along a wall 1202 such as a corridor including a corner 1201, and the moving carriage 10 from a starting position 1203 to a target position 1204.
In addition to the integrated moving distance of 1 in the traveling direction, the moving carriage 101 is measured by the direction-distance detecting means while traveling along the wall 1202 based on a command from the teaching terminal 104. If the distance to the wall of the vehicle is below a certain threshold value and the distance to the wall 1205 on the opposite side traveling along the same exceeds a certain threshold value, the current position is determined to be a corner and the vehicle is stopped. It is characterized by continuing to run along the wall after turning a certain angle in the opposite direction of 1202. According to the control device having the above configuration, the corner 12
Even when 01 is reached and the front wall is approached, the wall 1202 is automatically searched for and the traveling along the wall is continued. Therefore, the teacher does not have to give a stop or turn operation to the moving carriage 101 at the corner 1201. The teaching operation can be simplified by omitting it. Moreover, since it is not necessary to set the teaching point at the corner 1201, it is possible to suppress an increase in the number of teaching data.

[0011]

BEST MODE FOR CARRYING OUT THE INVENTION A basic configuration of a control device for a moving vehicle according to a first embodiment of the present invention will be described with reference to FIG. FIG. 1 is a block diagram of a network structure in a facility including a mobile carriage. In the figure, 101 is a mobile dolly, 102 is a peripheral device existing in the external environment of the mobile dolly 101, and 103 is the mobile dolly 101 and the peripheral device 10.
2 is a network to be connected, 104 is a network 10
3 is a teaching terminal at the operator's hand, 105 is a data storage unit connected to the network 103,
Is an area detection unit connected to the network 103 and capable of detecting an area where the mobile carriage 101, the teaching terminal 104, and the peripheral device 102 exist. The mobile carriage 101 and the teaching terminal 104 are connected to the network 103 by wireless communication. The teaching terminal 104 can operate the mobile carriage 101 and the peripheral device 102 via the network 103, and can store the operation content in the data storage unit 105. The operation can be reproduced by sending the stored operation content from the data storage unit 105 to the mobile carriage 101 and the peripheral device 102 according to a command from the teaching terminal 104.

FIG. 2 is a block diagram showing the network structure in the facility in more detail. In the figure, 201
Is a mobile carriage control arithmetic unit for controlling all operations of the mobile carriage 101. The mobile carriage control arithmetic unit 201 is connected to a time measuring timer 202, a network communication unit 203, a traveling motor driver 204, an encoder 205, a gyro sensor 206, and a scanning laser rangefinder 207. The network communication unit 203 is connected to the in-house network 103 by wireless communication. Mobile trolley 1
A traveling motor 20 for rotationally driving a drive wheel (not shown) of 01.
Reference numeral 8 is connected to the traveling motor driver 204, and the moving carriage control arithmetic unit 201 is connected via the traveling motor driver 204.
The number of rotations and the direction of rotation are controlled by a control signal output from. An encoder 205 that detects the rotation of the traveling motor 208 and outputs a detection signal to the moving carriage control arithmetic unit 201 is attached to the rotation shaft of the traveling motor 208. Further, a gyro sensor 206 for detecting an angular velocity generated in the moving carriage is installed on the moving carriage, and the angular velocity information is output to the moving carriage control calculation device 201. The mobile trolley control arithmetic unit 201 includes the gyro sensor 2
The posture change is calculated by performing integration or the like on the output of 06, and the position and posture data of the moving carriage is calculated by adding the signal from the encoder 205 to the calculation result. A scanning laser range finder 207 for detecting an obstacle is installed on the moving carriage. The laser range finder measures the distance to the object to be measured by measuring the time from when the laser beam is emitted to when the laser beam is reflected from the object to be measured and returns. A set of the direction θ and the distance r of the external environment as seen from the moving carriage can be acquired by rotating this in a horizontal plane and scanning it, and measuring the distance for each fixed angle of the turning angle. As a result, obstacles such as the positions of walls and pillars existing on the outer circumference and the steps of stairs are detected. This scanning laser rangefinder 207
Is connected to the mobile trolley control arithmetic unit 201 so that the direction-distance information to the obstacle can be obtained.
The peripheral device 102 existing in the external environment of the mobile trolley includes a network communication unit 209, a peripheral device drive device 210 connected to the network communication unit 209, and a peripheral device drive device 2.
It is composed of a peripheral device mechanism unit 211 connected to 10. The network communication unit 209 is connected to the network 103, and the peripheral device driving apparatus 210 receives an operation command sent from the network 103 via the network communication unit 209 and, based on the operation command, the peripheral device mechanism unit. 211 is driven. Examples of peripherals include
An automatic door opening / closing device, an elevator calling device, an automatic baggage loading / unloading device, or the like existing in the traveling environment of the moving carriage may be considered. These specific functions / actions will be described in a second embodiment described later. Teaching terminal 10
The teaching terminal arithmetic device 212 for controlling the operation of No. 4 is connected to the network communication unit 213,
3 is also connected to the network 103 by wireless communication. As a result, the teaching terminal computing device 212 can transmit an operation command to the mobile vehicle control computing device 201 and the peripheral device driving device 210 via the network 103.

The manual operation lever 214 is a manual operation means operated by an operator when the movable carriage 101 is directly moved, and is mounted on the teaching terminal 104. The manual operation lever 214 is provided with a swing detection sensor 215 that detects the swing thereof. This swing detection sensor 21
Reference numeral 5 is connected to the teaching terminal computing device 212. In the teaching terminal computing device 212, the network communication unit 213 and the network are arranged so as to switch the traveling direction, the turning direction and the speed according to the swing direction and the swing angle of the manual operation lever 214. A command can be transmitted to the mobile carriage control calculation device 201 via 103. Mobile trolley control arithmetic unit 20
1 controls the drive of the travel motor 208 via the travel motor driver 204 in accordance with this command. Further, a user interface unit 216 is installed on the teaching terminal 104, and the user interface unit 216 is the arithmetic unit 21.
Connected to 2. The user interface unit 216 can input commands such as teaching start and reproduction start, and also can input commands to the peripheral device drive device 210 via the network 103. Further, the user interface unit 216 acquires the operation status of the mobile trolley from the mobile trolley control arithmetic device 201 and the operation status of the peripheral equipment from the peripheral equipment drive device 210 via the network 103 and displays them to the worker.

The data storage unit 105 comprises a data storage unit arithmetic unit 217, a network communication unit 218, and a mass storage unit 219. Network communication unit 21
8 is connected to the network 103. The data storage unit arithmetic unit 217 is connected to the network communication unit 218 and the mass storage unit 219, and the data storage unit arithmetic unit 217 is based on a command from the teaching terminal arithmetic unit 212 received via the network communication unit 218. Then, the moving route of the mobile trolley and the operation contents of the peripheral devices are acquired, and these are stored together in the mass storage device 219. Further, at the time of reproduction, based on a command from the teaching terminal calculation device 212, the movement route and the operation content stored in the mass storage device 219 are transferred to the moving carriage control calculation device 201 and the peripheral device drive device 210 via the network 103. Send. The area detection unit 106 includes an area detection device 220 and a network communication unit 221. The network communication unit 221 is connected to the network 103. The area detection device 220 detects an area in which the mobile carriage 101 and the teaching terminal 104, which are connected by wireless communication via the network 103 and the network communication unit 221, are present, and the teaching terminal 104 and the mobile carriage 10 are detected.
1 is present in the same or adjacent area, and whether the teaching terminal 104 and the peripheral device 102 fixed to the environment are present in the same or adjacent area.
With the above configuration, since the mobile carriage and the teaching terminal are connected to the network by wireless communication, they can freely move within the facility without being physically restricted by the communication cable. For this reason, the operability during teaching is not impaired even during movement of the movable carriage, especially during turning. Further, since the movement route and the operation contents are stored in the large-capacity storage device of the data storage unit via the network, not in the limited memory area on the moving carriage, it is possible to store a larger amount of data. , Easy to store and call multiple data. Further, when a plurality of mobile vehicles are introduced, the movement route and the operation content stored in the data storage unit can be used for all the mobile vehicles. That is, all the moving carriages can be moved in the same manner by one teaching operation, which is efficient. Further, even when a plurality of mobile carriages are introduced, only one teaching terminal is required, and the operation panel / display panel on the mobile carriages is not required, so that the cost can be suppressed.

The function of the area detecting device will be described with reference to FIG. In FIG. 3, 301 is a network in the building, 302 to 304 are wireless communication devices connected to the network 301 and installed on the second floor of the building, 305.
307 to 307 are wireless communication devices similarly connected to the network 301 and installed on the first floor of the building, and 308 to 313 are communicable areas of the wireless communication devices 302 to 307. According to the present invention, the mobile vehicle and the teaching terminal are physically unconstrained by wireless communication, and the effects as described above can be obtained. However, on the other hand, it also becomes possible to control a mobile carriage and peripheral devices that are located far away from an operator carrying the teaching terminal. For example, the teaching device 314 on the second floor can control the peripheral device 315 on the first floor. In the case where the peripheral device 315 is a device that operates like an automatic door, there is a possibility that the peripheral device may operate in a situation where the operator cannot confirm the safety, which is not preferable for safety such as contact with people around. In addition, like the mobile carriage 316, the teaching terminal 3
It is also dangerous to issue an operation command to a moving carriage that is remote from 14. Therefore, the area detection device checks which of the wireless communication devices 302 to 307 is wirelessly communicating with the teaching terminal 314 and which is wirelessly communicating with the moving carriage 317, and the teaching terminal like the moving carriage 317 is checked. Three
Only when it exists in the same area 308 as 14 or the adjacent area 309, the operation permission is issued to the moving carriage 317. Further, as for the peripheral device fixed to the environment, the operation permission is issued to the peripheral device only when the peripheral device exists in the same area 308 or the adjacent area 309 as the teaching terminal 314 like the peripheral device 318.
Thereby, the teaching terminal 314 carried by the operator at the time of teaching
In a place away from the mobile dolly 316 and the peripheral device 31
Since 5 does not operate, safety is improved.

FIG. 4 is a diagram showing a teaching operation in cooperation with a peripheral device according to the second embodiment. In FIG. 4, 4
01 is a worker, 402 is a teaching terminal, 403 is a mobile carriage,
Reference numeral 404 is a data storage unit. An in-facility network 405 is installed on all floors of the building, the teaching terminal 402 and the mobile carriage 403 are wireless communication via wireless communication devices 406 to 409, and the data storage unit 404 is a wired communication in-facility network 405. It is connected to the. 41
0 to 413 are drive devices for peripheral devices existing in the traveling environment of the mobile trolley, and are connected to the network 4 in the facility by wired communication.
05 is connected. Reference numeral 410 is an automatic door opening / closing device, which can automatically open and close the door according to a command from the in-house network 405. Reference numerals 411 and 412 denote elevator calling devices, which are network 405 in the facility.
In response to a command from, the elevator can be automatically called to the floor and the elevator doors can be opened and closed. 413
Is an automatic baggage loading / unloading device, and is a network 405 in the facility.
In response to a command from the mobile trolley 403, luggage such as documents can be automatically loaded or unloaded on the mobile carriage 403. The operator operates the movable carriage 403 by operating a manual operation lever (not shown) on the teaching terminal 402. The operator can also send a door opening command to the automatic door opening / closing device 410 by a user interface unit (not shown) on the teaching terminal 402. As a result, in the teaching data creation mode, it is possible to perform a coordinated operation such as opening the automatic door while moving the movable carriage 403 closer to the door. Similarly, the elevator calling devices 411 and 412 and the automatic baggage loading / unloading device 413 can also be operated in cooperation with the moving carriage 403. Mobile cart 4 at this time
03 movement path and peripheral device drive devices 410-41
The operation content of No. 3 is transmitted to the data storage unit 404 via the in-facility network 405 and stored in the mass storage device in the data storage unit 404.

The data contents of the movement route stored in the mass storage device according to the third embodiment of the present invention will be described with reference to FIG. In the figure, 501 to 504 are transit points through which the moving carriage must pass. When the operator outputs a teaching command from the teaching terminal, the position information in the XYθ directions with the start point 501 as the origin, the current floor number, and the operation content of the peripheral device at the waypoint are data points specific to the waypoint. Stored in the mass storage device. Also, 505
Reference numeral 507 is inter-route point operation information that defines the action between via points. The operation information between waypoints is set at the same time when teaching waypoints, and the start waypoint, end waypoint, traveling speed, distance information to the left and right walls, distance information to the left and right inaccessible areas, etc. are unique. Is stored in the mass storage device. As described above, the position information of the moving carriage is not continuously acquired and stored for each sample time, but the position information at the time when the operator transmits the teaching command from the teaching terminal at the waypoint is acquired and stored. In addition, at the time of playback, this waypoint is automatically interpolated to create a motion path. As a result, the amount of data can be suppressed to be small even when teaching for a long time. Further, according to this method, it is possible to easily perform an editing operation such as adding, deleting, or changing the waypoint of the data once stored. FIG. 6 shows an example thereof. FIG. 6A shows a travel route that is directly taught, and includes via points 601, 602, and 60.
It moves in the order of 3, 604, and 605. This is shown in FIG.
Nodes 601, 602, 605, 60 as in (b)
It is easy to switch the order of 4 and 603.

In the fourth embodiment of the present invention, XYθ with the start point as the origin is set as the via point taught directly.
Directional position information, current floor number, and operation contents of peripheral equipment at waypoints, as well as information on the environment of the outer periphery of the moving carriage measured by the direction-distance detecting means such as a scanning laser rangefinder on the moving carriage. Is also included. This external environment information is represented by a set of the direction θ and the distance r viewed from the moving carriage,
The data storage unit 10 is used as the environmental information of the outer periphery of the moving carriage.
Stored in 5. During operation playback, the moving carriage moves to the target waypoint position based on the dead reckoning information calculated by the gyro sensor and encoder, and the external environment information obtained by the scanning laser rangefinder on the waypoint, By comparing with the external environment information at the time of teaching, it is possible to recognize the deviation of the current position from the time of teaching. This self-position identification method is described in detail in the patent application 2001-200687 filed earlier by the present applicant ("Outside environment map, and self-position identification device and guidance control device"), so refer to that. I want to be done. As a result, even if a dead reckoning error occurs due to slippage on the road surface, this can be corrected.

A user interface screen on the teaching terminal according to the fifth embodiment of the present invention will be described with reference to FIG. FIG. 7 shows a user interface screen displayed on the display on the teaching terminal, which serves as both the operation panel and the display panel of the conventional example. 70
Reference numeral 1 denotes a teaching data display unit, which can refer to the waypoints 702 to 705 and the waypoint information 706 to 708 taught so far. In the teaching data display unit 701,
By double-clicking on the waypoints 702 to 705 with a mouse or a touch panel, the waypoint data can be edited as shown in FIG. Also, the waypoint information 70
By double-clicking 6 to 708, the inter-route point information data can be edited as shown in FIG. Further, instead of directly inputting a numerical value, as a more intuitive method, the position of the waypoint 703 can be corrected by dragging the waypoint 703 with a mouse as shown in FIG. In addition, addition and deletion of waypoints can be easily performed by operating the mouse or touch panel. 709-7
Reference numeral 18 denotes a group of icons displayed on the screen, and a predetermined operation can be executed by clicking the group of icons with a mouse or a touch panel. Reference numeral 709 denotes a "teach" icon. When this icon is clicked, the current position information is added to the teaching data and stored in the data storage unit. Reference numeral 710 denotes an “initialize” icon, which can be clicked to delete the teaching data stored in the data storage unit. After the direct teaching of the movement route, if the "play" icon 711 is pressed, the data storage unit sequentially retrieves the stored teaching data from the large-capacity storage device and transmits it to the moving carriage and peripheral devices. Reference numeral 712 denotes a "stop" icon, which is clicked during movement to stop the operation. Reference numerals 713 to 718 are icons for operating peripheral devices during teaching. Reference numeral 713 denotes an "door open" icon, which, when clicked, opens the door on the traveling route of the moving carriage by the automatic door opening / closing device. Reference numeral 714 denotes a "door close" icon, which, when clicked, closes the door on the traveling route of the moving carriage by the automatic door opening / closing device. Reference numeral 715 denotes an "elevator call" icon, and when clicked, the elevator calling device calls the elevator to the current floor. 716 is "elevator closed"
It is an icon, and when clicked, the elevator door is closed by the elevator calling device. Reference numeral 717 denotes a "loading" icon, and when clicked, a load is loaded on the moving carriage by the automatic load / unload device near the moving carriage. Reference numeral 718 denotes an "unloading" icon, and when clicked, the luggage on the moving carriage is unloaded by the automatic luggage unloading device near the moving carriage. An external environment map display unit 719 displays the direction-distance information of the external environment obtained by the scanning laser range finder. Reference numeral 720 denotes a node information display unit, which displays the data contents of the waypoints clicked on the teaching data display unit 701 or information between waypoints. As described above, the graphical user interface is used and the visibility and operability are excellent as compared with the panel mounted in the limited space on the moving carriage as shown in the conventional example.

FIG. 1 shows the sixth embodiment of the present invention.
It will be described based on 1. In FIG. 11, 801 to 807
Is the teaching content stored in the data storage unit,
1 to 804 are transit points through which the mobile dolly should pass, 805 to 8
Reference numeral 07 is inter-route point operation information that defines the action between route points. The waypoint 801 is the operation start point of the series of operations described above. When the moving carriage is located at a position different from the operation start point 801 (for example, at a position 808), when the moving carriage tries to travel on the same trajectory as the teaching content, first, the moving carriage is set to the operation start point 801. Need to move. In the present invention, by comparing the stored direction-distance information at the operation start point 801 with the direction-distance information at the current position 808, the operation start point 801 and the current position 8 are compared.
The displacement amount with 08 is identified. The displacement amount identification process will be described with reference to FIG. FIG. 12A shows direction-distance information (θ-r) at the operation start point 801 at the time of teaching.
t) and is stored in the data storage unit 105. FIG. 12B shows direction-distance information (θ-rp) at the current position 808, which is measured by the laser scanning rangefinder 207 mounted on the moving carriage 101. By comparing these as shown in FIG. 12C, the displacement amount 809 between the operation start point 801 and the current position 808 can be identified. The details are described in the above-mentioned patent application 2001
-200687 ("External environment map and self-position identification device and guidance control device"), please refer to it. When the displacement amount 809 can be identified, the movable carriage can be moved to the operation start point 801 by running the movable carriage so that the displacement amount becomes zero. Actually, since there is a position error due to slippage of the road surface, this operation may be repeated until the result of identifying the displacement amount 809 between the operation start point 801 and the current position 808 becomes zero. In order to move the moving carriage to the operation start point, conventionally, the absolute coordinates of the operation start point were measured and directly input, or a mark or the like was put on the floor and manually moved by a human being. However, according to the present invention, the moving carriage can be easily matched with the teaching point stored in the past without directly measuring / inputting the absolute coordinates in the facility at the start of the reproducing operation or providing a mark for the teacher on the floor. be able to.

FIG. 1 shows the seventh embodiment of the present invention.
It will be described based on 3. In the teaching terminal 104,
If the distance information YR to the right wall and the distance information YL to the left wall are designated as the operation between waypoints, the teaching terminal arithmetic unit 2
As shown in FIG. 13A, the reference numeral 12 is the virtual target point 1001 of the moving carriage as the origin, and the traveling direction 1002 is the X axis (θ =
On a polar coordinate system in which θ is discretized as 0), a virtual wall 1003 is placed at a point YR away from the moving carriage to the right, and Y to the left.
A direction-distance information template (θ-rt) in which a virtual wall 1004 is arranged at a point separated by L is created. Specifically, it can be created by the following formula. rt = YL / sin θ (θ> 0 and rt ≦ rma
x) rt = YR / sin θ (θ <0 and rt ≦ rma
x) rt = 0 (when θ = 0 or θ = π or rt> rmax) where rmax is the maximum detection distance of the laser scan rangefinder 207. In the position identification method used in the present invention,
If there is no object within the maximum detection distance, the distance to the external environment is set to zero, and if there is a distance of zero in any of the direction-distance information to be collated, the correlation calculation for position identification is performed for that direction. Not included in. When the teaching terminal 104 starts the reproducing operation, the direction at the current position 1005-
The distance information (θ-rp) is set to the scanning laser range finder 20.
7 are sequentially acquired from the mobile trolley 101.

An example of the obtained current direction-distance information is shown in FIG.
3 (b). The teaching terminal 104 displays the current direction-
By collating the distance information with the direction-distance template, as shown in FIG.
The displacement amount (Y-axis direction and θ direction) 1006 of the current position 1005 with respect to 01 can be identified. When the displacement amount 1006 can be identified, the movement of the moving carriage is sequentially corrected so that the displacement amount becomes zero in the Y-axis and θ directions while maintaining a predetermined speed in the X-axis direction.
It is possible to drive while keeping the distance between the moving carriage and the wall at the designated distances YR and YL. According to this embodiment,
When traveling along a wall, if you teach only the start point and end point, and the distance information to the left and right walls between them, the distance to the wall is sequentially measured without teaching points on the way, and this is specified. It is possible to drive while maintaining a great distance. Also,
If only the distance to one wall, for example, the distance information YR to the right wall, is given as the operation between waypoints, FIG.
As shown in (d), a template for only one side is created. Specifically, it can be created by the following formula. rt = YR / sin θ (θ <0 and rt ≦ rma
x) rt = 0 (θ ≧ 0 or
In the case of rt> rmax) Here, rmax is the maximum detection distance of the laser scan rangefinder 207. In the position identification method used in the present invention,
If there is no object within the maximum detection distance, the distance to the external environment is set to zero, and if there is a distance of zero in any of the direction-distance information to be collated, the correlation calculation for position identification is performed for that direction. Since the position is identified only for the wall information on one side, the vehicle can travel while holding the designated distance YR to the wall on the right side in the above example.

FIG. 1 shows the eighth embodiment of the present invention.
4 will be described. In FIG. 14A, 110
Reference numeral 1 is a corner existing on the traveling road, and 1102 is a wall. When performing the teaching operation of moving the moving carriage 101 from the starting position 1103 to the target position 1104, in the seventh embodiment, the teacher first gives a command to run the moving carriage 101 from the starting position 1103 along the wall 1102. Then, a command to stop once at the corner 1101 is given, and a command to turn 90 degrees is further given, and the wall 11 is again turned on.
Many steps need to be taken to give instructions to run along 02. In this case, the starting point is 110 at the teaching point.
3 and target position 1104, along with a corner 1101
Will also be included. On the other hand, the present embodiment will be described based on FIGS. 14 (b) to 14 (c). 14
In (b), if the moving carriage 101 is traveling along the left side wall 1102 at a position 1105 as an example, the moving carriage 101 is detected by the direction-distance detection means.
The distance YL with 02 is constantly monitored. When the left corner is reached and the left side wall 1102 is interrupted at position 1106, the distance YL to the wall increases significantly. Mobile trolley 10
1 detects that the distance YL exceeds a certain threshold,
Judging that the vehicle has reached the left corner, braking is started. Since the braking distance is actually required, the moving carriage 101 is located at a position 1107 in front of the position 1106 where the distance YL exceeds the threshold value.
Will stop. Subsequently, as shown in FIG. 14C, the movable carriage 101 turns counterclockwise 90 degrees at the position 1107. Subsequently, as shown in FIG. 14D, the moving carriage 101 moves forward while monitoring the leftward distance YL. At the position 1107, the distance YL keeps a large value.
02, the distance YL to the wall is greatly reduced. When the moving carriage 101 detects that the distance YL has fallen below a certain threshold value, it determines that it has reached the wall again, and restarts traveling along the left wall 1102. When the moving carriage 101 reaches the target position 1104, the teacher teaches the teaching terminal 104.
Sends a stop command to stop the moving carriage 101.
The moving carriage 101 sequentially calculates the cumulative distance in the traveling direction, and the data storage unit 105 stores the cumulative moving distance L when stopped and the distance YL with the wall as teaching data. By the method described above, the moving carriage 101 automatically moves to the wall 11 even when the corner 1101 is reached and the wall 1102 is interrupted.
Since the search for No. 02 is continued and traveling along the wall is continued, the instructor can save the trouble of giving a stop operation or a turning operation to the moving carriage 101 at the corner 1101, and the teaching operation can be further simplified. Moreover, since it is not necessary to set the teaching point at the corner 1101, it is possible to suppress an increase in the number of teaching data.

FIG. 1 shows the ninth embodiment of the present invention.
It will be described based on 5. In FIG. 15A, 120
1 is a corner existing on the traveling road, and 1202 and 1205 are walls. Move the carriage 101 to the departure position 12
When performing the teaching operation of moving from 03 to the target position 1204, in the seventh embodiment, the teacher first gives a command to travel the moving carriage 101 along the wall 1202 from the starting position 1203, and then at the corner 1201. It is necessary to take many steps of giving a command to stop, a command to turn 90 degrees, and a command to travel along the wall 1202 again. In this case, the teaching point includes the starting position 1203 and the target position 1204 as well as the mid-corner 1201. For this,
The present embodiment will be described based on FIGS. 15B and 15C. In FIG. 15B, as an example, the mobile carriage 1
If 01 is traveling at the position 1206 along the left side wall 1202, the moving carriage 101 detects the distance YL from the left side wall 1202 and the right side wall 1025 by the direction-distance detection means.
The distance YR with the front wall and the distance X with the front wall are constantly monitored. When the right corner is reached, as shown at the position 1207, the wall 1205 on the right side is interrupted, and thus the distance YR to the wall is reached.
Is greatly increased. The movable carriage 101 has a wall 120 on the left side.
When it is detected that the distance X to the front wall is below a certain threshold value while the distance YL to 2 is below the threshold value described in the eighth embodiment, the distance YR to the right wall is continuously calculated. When the inspection is performed and it is detected that the distance YR exceeds a certain threshold,
Judge that it has reached the right corner and stop. Then, as shown in FIG. 14B, the moving carriage 101 is moved to the position 120.
At 7, turn 90 degrees clockwise. Here, it is confirmed again that the distance YL from the left wall 1202 is below the threshold value described in the eighth embodiment, and the left wall 120
Resume traveling along 2. When the moving carriage 101 reaches the target position 1204, the teacher transmits a stop command from the teaching terminal 104 to stop the moving carriage 101. The moving carriage 101 sequentially calculates the cumulative distance in the traveling direction, and the data storage unit 105 stores the cumulative moving distance L when stopped and the distance YL with the wall as teaching data. According to the above method, the moving carriage 101 automatically searches for the wall 1202 and continues traveling along the wall even when it reaches the corner 1201 and approaches the front wall.
In 01, the trouble of giving a stop or turning operation to the moving carriage 101 can be omitted, and the teaching operation can be further simplified.
Moreover, since it is not necessary to set the teaching point at the corner 1201, it is possible to suppress an increase in the number of teaching data.

FIG. 16 is a flow chart summarizing the above-mentioned processing when traveling along the wall. FIG. 16 (A) shows a case where the moving carriage travels along the left side wall as an example.
(B) is a processing flow in that case. In FIG. 16 (A), while traveling along the wall, the moving carriage 101 is detected by the direction-distance detecting means by the distance YL with the left wall 1202, the distance YR with the right wall 1025, and the distance X with the front wall. Is constantly monitored. In this case, step S in FIG.
If YL is within a certain threshold in 1301, the process proceeds to step S1302. In step S1302,
If X exceeds a certain threshold, it is determined that there is no obstacle or wall in front, and in step S1303, the speed for correcting the distance to the wall according to the method described in the sixth embodiment. To occur. Then, step S1304.
At, if the stop command is received from the teacher, the traveling along the wall is ended. In the case of the reproducing operation, step S1
In 305, if the accumulated distance at the time of teaching is reached, the traveling along the wall is ended. If neither condition is met, the process returns to S1301 to continue traveling along the wall. When YL is equal to or larger than a certain threshold value in step S1301, it is determined that the left corner is reached, as described in the eighth embodiment, the process is stopped in step S1306, and the vehicle is turned 90 degrees counterclockwise in step S1307. Step S13
Start to move forward at 08. In step S1309, the forward movement is continued until YL becomes equal to or less than a certain threshold value, and step S131
Stop at 0. Then, the process is continued from step S1304. When X becomes equal to or smaller than a certain threshold value in step S1302, it is determined that an obstacle or a wall exists on the front surface, and the process proceeds to step S1311. In step S1311, YR is checked, and if YR is greater than or equal to a certain threshold value, the ninth
As described in the above embodiment, it is determined that the right corner is reached, and the process is stopped in step S1312, and then step S13 is performed.
At 13, turn 90 degrees clockwise. Then, step S1
The process is continued from 304. YR in step S1311
When is determined to be within a certain threshold, it means that the object exists in the front, not in either the left or right corner,
The front object is determined to be an obstacle, and a speed is generated in step S1314 so as to avoid the obstacle. Then, the process is continued from step S1304. The above is an example of traveling along the left side wall, and in the case of traveling along the right side wall, the processing is reversed in the left and right in the sentence. As described above, the distance YL to the left wall 1202 and the right wall 1025
By switching the processing depending on the distance YR from the vehicle and the distance X from the front wall, it is possible to continue traveling along the wall even in an environment including a corner.

[0026]

According to the control apparatus for a moving carriage according to the first aspect, the teaching terminal is separated from the moving carriage and is not restrained by the operation of the moving carriage, so that the moving carriage is moving, especially during turning. The operability is not impaired. Further, by storing the movement route in a large-capacity storage device of the data storage unit via the network instead of the limited memory area on the moving carriage, it is possible to save a larger amount of data and save a plurality of data. And easy to call. Further, when a plurality of mobile vehicles are introduced, the movement route and the operation content stored in the data storage unit can be used for all the mobile vehicles. That is, all the moving carriages can be moved in the same manner by one teaching operation, which is efficient. Further, even when a plurality of mobile carriages are introduced, only one teaching terminal is required, and the operation panel and the display panel on the mobile carriages are not required, so that the cost can be suppressed. In addition, since the mobile carriage and peripheral devices do not operate in a place away from the operator at the time of teaching, safety is improved.
According to the control device for a moving carriage according to claim 2, an elevator calling device, an automatic door opening / closing device, in association with the moving carriage,
Alternatively, by operating the automatic baggage loading / unloading device, it is possible to automatically reproduce the movement between floors in a facility such as a building, the passage of a barrier such as a door, and the loading / unloading of luggage as instructed. According to the control device for a moving vehicle of claim 3, the position information at the time when the operator outputs the teaching command is acquired and stored as the waypoint, and the operation content between the waypoints is stored as the waypoint information. As a result, it is possible to significantly reduce the amount of data required as compared with the method of continuously acquiring and storing the position information for each sample time. Further, there is an effect that an editing operation such as adding, deleting, or changing the once-stored waypoint can be easily performed.

According to the control device for a mobile vehicle of the fourth aspect, the external environment information obtained by the direction-distance measuring means at the mobile vehicle at the time of the reproduction of the operation and the external environment at the time of teaching. By comparing with the information, it is possible to recognize the deviation of the current position from the time of teaching. As a result, even if a dead reckoning error occurs due to slippage on the road surface, the dead reckoning error can be corrected. According to the control device for a mobile vehicle of claim 5, the graphical user interface is used for the visibility compared with the panel mounted in the limited space on the mobile vehicle.
Excellent operability. As a result, even an inexperienced user can easily introduce the system. According to the control device for a movable carriage of claim 6, when the reproduction operation is started,
The moving carriage can be easily matched with the teaching point stored in the past without directly measuring / inputting the absolute coordinates in the facility or providing a mark for the teacher on the floor. According to the control device for a moving vehicle of the seventh aspect, between the waypoints traveling along the wall, it is possible to always travel while maintaining the distance to the wall without providing a teaching point on the way. According to the control device for a movable carriage according to claim 8, even if the wall 1102 is interrupted by reaching the corner 1101, the wall 1 is automatically separated.
Since the search for 102 and the traveling along the wall are continued, the instructor can save the trouble of giving the moving carriage 101 a stop or turning operation at the corner 1101, and the teaching operation can be simplified. Moreover, since it is not necessary to set the teaching point at the corner 1101, it is possible to suppress an increase in the number of teaching data. According to the control device for a movable carriage according to claim 9, even when the vehicle reaches the corner 1201 and approaches the front wall, the wall 1202 is automatically searched and the traveling along the wall is continued. In the corner 1201, it is possible to save the trouble of giving a stop operation or a turning operation to the moving carriage 101,
The teaching operation can be further simplified. Moreover, since it is not necessary to set the teaching point at the corner 1201, it is possible to suppress an increase in the number of teaching data.

[Brief description of drawings]

FIG. 1 is a diagram showing a basic configuration according to a first embodiment of the present invention.

FIG. 2 is a detailed block diagram according to the first embodiment of the present invention.

FIG. 3 is a diagram showing functions of the area detection device according to the first embodiment of the present invention.

FIG. 4 is a diagram showing a teaching operation in cooperation with a peripheral device according to a second embodiment of the present invention.

FIG. 5 is a diagram showing contents of teaching data according to a third embodiment of the present invention.

FIG. 6 is a diagram showing a teaching data editing operation according to a third embodiment of the present invention.

FIG. 7 is a diagram showing a user interface screen displayed on a display on a teaching terminal, which is a user interface screen according to a fifth embodiment of the present invention.

FIG. 8 is a diagram showing a user interface screen on which waypoint data can be edited.

FIG. 9 is a diagram showing a user interface screen on which it is possible to edit information data between waypoints.

FIG. 10 is a diagram showing a user interface screen in which the position of a waypoint can be corrected by dragging the waypoint with a mouse.

FIG. 11 is a diagram showing a sixth embodiment of the present invention.

FIG. 12 is a diagram showing a displacement amount identification process according to the sixth embodiment of the present invention.

FIG. 13 is a diagram showing a seventh embodiment of the present invention.

FIG. 14 is a diagram showing an eighth embodiment of the present invention.

FIG. 15 is a diagram showing a ninth embodiment of the invention.

FIG. 16 is a flowchart showing the processing in the eighth and ninth embodiments of the present invention.

FIG. 17 is a block diagram of a control system of a conventional mobile truck.

FIG. 18 is a diagram showing a configuration example of an operation panel unit in a conventional mobile truck.

[Explanation of symbols]

101 mobile trolley 102 peripherals 103 network 104 Teaching terminal 105 data storage unit 106 area detector 801 waypoint 805-807 operation between waypoints 808, 1005 Current position 809, 1006 displacement 1101, 1201 corner 1102, 1202 Corridor walls 1103, 1203 Departure position 1104, 1204 Target position 1205 opposite wall

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Toshiyuki Kono             2-1, Kurosaki Shiroishi, Hachiman Nishi-ku, Kitakyushu City, Fukuoka Prefecture               Yasukawa Electric Co., Ltd. F term (reference) 3C007 CS08 JS03 MT01 WA28 WB14                       WB16                 5H301 AA02 AA10 BB05 DD02 DD06                       DD17 GG07 GG11 GG17 KK03                       KK08 KK20

Claims (9)

[Claims] 1. A mobile vehicle, a peripheral device existing in an environment outside the mobile vehicle, a network to which the mobile vehicle and the peripheral device are connected, and the mobile vehicle connected to the network and via the network. A teaching terminal that operates the peripheral device, a data storage unit that is connected to the network and stores a movement route of the mobile vehicle and operation contents of the peripheral device, the teaching terminal, the mobile vehicle, and the peripheral device. An area detection unit capable of detecting an area in which is present, and a moving vehicle control device having an operator's actual operation of the moving vehicle in advance, which stores the moving route in a data storage unit, In the control device for a mobile vehicle, which reproduces the same operation by reproducing the content of the travel route stored in the data storage unit, the area detection unit Only when it is detected that the teaching terminal and the mobile carriage are present in the same or adjacent areas, it is possible to operate the mobile carriage, and / or it is detected that the teaching terminal and the peripheral equipment are present in the same or adjacent areas. A control device for a mobile carriage, which enables operation of the peripheral device only at a time. 2. The peripheral device is any one or more of an automatic door opening / closing device, an elevator calling device, and an automatic baggage unloading device, and each peripheral device is controllable via the network. The control device for a movable carriage according to claim 1, wherein: 3. The control device for a mobile truck according to claim 1, wherein the movement route includes a waypoint that the mobile carriage should pass through and an operation between waypoints that connects the waypoints. 4. The moving carriage is equipped with direction-distance measuring means capable of continuously acquiring direction-distance information to the environment of the outer circumference, and the data storage unit is configured such that the data storage unit includes the via point and the via point at a teaching point. The control device for a mobile vehicle according to any one of claims 1 to 3, wherein the direction-distance information is stored together with information on inter-movement. 5. The teaching terminal has buttons for operating the mobile carriage and the peripheral devices, and the waypoints and waypoints in which the current position information of the mobile carriage and the direction-distance information are further stored. 5. The movement according to claim 1, further comprising: a user interface screen that displays information on inter-point movements and can edit the information on the waypoints and movements between waypoints arbitrarily. Control device for trolley. 6. The teaching terminal performs a reproduction operation based on the waypoints, the inter-waypoint operations, and direction-distance information (θ-rt) at the waypoints stored in a storage medium of the data storage unit. Before performing the above, the direction-distance information (θ-rt) at the operation start point of the waypoints and the direction-distance information (θ-
2. The displacement amount between the operation start point and the current position is calculated by collating with the rp), and the movable carriage is caused to travel in a direction in which the displacement amount is reduced.
5. A control device for a moving carriage according to any one of 5 above. 7. The operation between waypoints stored in the data storage unit includes information that is a designated distance from the wall when traveling along a wall such as a corridor, and the teaching terminal, A direction-distance information template (θ-rt) in which virtual wall information is arranged at the position of the specified distance with the virtual target point as the origin is created, and this and the direction-distance information (the distance-information acquired by the moving carriage at the current position). The displacement amount between the virtual target point and the current position is calculated by collating with θ−rp), and the movable carriage is run in a direction in which the displacement amount is reduced. 6. The control device for the moving carriage according to any one of 6 above. 8. The operation between the waypoints stored in the data storage unit includes a designated distance from the wall when traveling along a wall such as a corridor including a corner, and a distance from a starting position to a target position. The travel distance of the traveling carriage in the traveling direction is included, and the traveling carriage is traveling along the wall, and the distance to the wall measured by the direction-distance detecting means exceeds a certain threshold value. If the current position is a corner, stop and turn to the wall side by a certain angle, move forward until the distance to the wall is within a certain threshold, and then continue traveling along the wall. The control device for a mobile carriage according to any one of claims 1 to 7. 9. The movement between the waypoints stored in the data storage unit includes a designated distance from the wall when traveling along a wall such as a corridor including a corner and a distance from a starting position to a target position. Along with the integrated travel distance of the traveling trolley in the traveling direction, the traveling trolley is measured by the direction-distance detecting means while traveling along the wall based on a command from the teaching terminal, If the distance to the wall is below a certain threshold and the distance to the wall on the opposite side traveling along the wall exceeds a certain threshold, the current position is judged to be a corner and the vehicle is stopped. After turning a certain angle in the direction,
9. The control device for a mobile carriage according to claim 1, wherein the control device continues traveling along the wall.